ROS学习--发布者的编程实现

首先进入上一期博客建立的工作空间，创建一个功能包

cd ~/catkn_ws/src

mkdir learning_topic

cd learning_topic

catkin_create_pkg learning_topic roscpp rospy std_msgs geometry_msgs turtlesim

如何实现一个发布者

step1.初始化ROS节点

step2.向ROS Master注册节点信息，包括发布的话题和话题中的消息类型

step3.创建消息数据

step4.按照一定频率循环发布信息

在leaning_topic的src中新建velocity_publisher.cpp--让小海龟做线速度0.5，角速度0.2的运动

代码如下

#include<ros/ros.h>
#include<geometry_msgs/Twist.h>

int main(int argc,char **argv)
{
	ros::init(argc,argv,"velocity_publisher");
	
	ros::NodeHandle n;
	
	ros::Publisher turtle_vel_pub =n.advertise<geometry_msgs::Twist>("/turtle1/cmd_vel",10);
	
	ros::Rate loop_rate(10);
	
	int count = 0;
	
	while(ros::ok())
	{
		geometry_msgs::Twist vel_msg;
		vel_msg.linear.x=0.5;
		vel_msg.angular.z=0.2;
		
		turtle_vel_pub.publish(vel_msg);
		ROS_INFO("Publish turtle velocity command[%0.2f m/s,%0.2f rad/s]",vel_msg.linear.x,vel_msg.angular.z);

		loop_rate.sleep();		
	}
	return 0;
}

在CMakeLists.txt最后一行中加入

add_executable(velocity_publisher src/velocity_publisher.cpp)
target_link_libraries(velocity_publisher ${catkin_LIBRARIES})

接着开始跑程序发布话题

cd ~/catkin_ws
catkin_make
source devel/setup.bash
roscore
rosrun turtlesim turtlesim_node
rosrun learning_topic velocity_publisher

结果如下